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A mixed elastic and rigid-body dynamic model of an actuation redundant parallel robot with high-reduction gears

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2 Author(s)
Kock, S. ; Control Eng. Lab., Tech. Univ. Braunschweig, Germany ; Schumacher, W.

A 2 DOF parallel redundant manipulator (PA-R-MA) is introduced. The manipulator is redundantly actuated by three servomotors with high-reduction gears. It is equipped with structurally integrated torque sensors. An elastic model of the null-space dynamics is derived needed for feedback control of redundant torques. A cartesian rigid-body dynamic model of the motion DOF is shown to be decoupled from the elastic model. Experimental results show the validity of the models

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Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:2 )

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